Remote control system based on the Internet and machine vision for tracked vehicles

Abstract

A remote control system based on the Internet and machine vision is designed in this study for tracked vehicles. The system consists of remote monitoring, remote control, and visual navigation subsystems. The on-board computer receives control commands issued by the monitoring center and controls the speed and steering angle of the tracked vehicles. The front camera collects navigation line information, and the collected image is processed by filtering, gray processing, binarization processing, and interference elimination to obtain the center point coordinates of the navigation line. Proportional-integral-derivative (PID), fuzzy PID, and neural network control algorithms are compared based on the distance and angle deviations of the preview point to control the operation of tracked vehicles through simulation. The Internet remote control system with the fuzzy PID control algorithm is then tested on a tracked vehicle. Experimental results indicate that the trajectory of the tracked vehicle fits the navigation path well.